EP2932198B1 - Redundante signalerfassung - Google Patents

Redundante signalerfassung Download PDF

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Publication number
EP2932198B1
EP2932198B1 EP13776811.5A EP13776811A EP2932198B1 EP 2932198 B1 EP2932198 B1 EP 2932198B1 EP 13776811 A EP13776811 A EP 13776811A EP 2932198 B1 EP2932198 B1 EP 2932198B1
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EP
European Patent Office
Prior art keywords
sensor
signal
stimulus
signals
providing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP13776811.5A
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German (de)
English (en)
French (fr)
Other versions
EP2932198A1 (de
Inventor
Siegbert Steinlechner
Jo Pletinckx
Jan Scheuing
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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Robert Bosch GmbH
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24457—Failure detection
    • G01D5/24461—Failure detection by redundancy or plausibility
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values

Definitions

  • the invention relates to a sensor for signal detection.
  • the invention relates to a redundant sensor and a technique for evaluating the sensor signal.
  • this relates to an acceleration sensor used to control airbag or driving stability systems.
  • the measured variable supplied by the sensor element is superimposed on a known stimulus signal with the aid of which the measuring channel can be checked.
  • the difficulty lies in the distinction of the effects of stimulus and useful signal on the detected signal, especially if the measuring channel can not be modeled with sufficient accuracy and no temporal separation due to permanent sensor sensitivity, and no frequency separation due to the Meßkanaleigenschaften.
  • An example of an additional excitation of an acceleration sensor by an electrical stimulus signal is in DE 10 2010 029903 A1 to find.
  • the invention has the object to monitor a sensor for a safety-critical application to failure or mis-measurement of a sensor element as well as errors in a signal processing path. This monitoring should preferably take place during ongoing operation, do not affect the measurement result, can also be done without the concern of a measured variable and allow a test of the sensor in the frequency range of its useful signal.
  • the invention achieves this object by means of a sensor, a method and a computer program product having the features of the independent claims.
  • a sensor system for providing an N-dimensional measurement signal comprises N sensors which have linearly independent measurement directions, at least one additional sensor whose expected signal can be calculated by a non-trivial linear combination of all other sensor signals, a stimulus source for providing a periodic stimulus signal for each of the sensors, the stimulus signals having mutually orthogonal frequencies, and processing means for removing the stimulus signals from the sensor signals and providing the N-dimensional measurement signal as defined in claim 1.
  • the invention uses a redundant sensor arrangement in which the individual measurement channels are excited by different, frequency-orthogonal stimuli. That is, the stimulus signals are chosen so that their spectra do not overlap. In another embodiment, stimuli with orthogonal codes may also be used.
  • the redundancy is used to check the plausibility of the measured signals or, if appropriate, additionally to reduce the noise of the measurement. If a frequency is included in the stimulus signal of a measurement channel, the measurement value at that frequency is determined using redundancy without the affected measurement channel.
  • the invention is advantageous over an exclusively redundant measurement, since the measurement channels can be checked by means of stimuli without concern of a measured variable.
  • the processing means comprises a mixer for mixing the sensor signals, a stimulus filter for each sensor, for filtering the stimulus signal from the output of the mixer, a compensator for each sensor connected to its associated sensor and the corresponding stimulus filter for compensating the sensor signal around the stimulus signal, and a redundancy reducer for providing the output signal based on the signals of the compensators.
  • the sensors may be monitored based on intermediate results from parts of the processing device.
  • the invention may be implemented by a method comprising steps of pacing each sensor with a periodic pacing signal at a predetermined pacing rate, the pacing frequencies of the sensors being orthogonal to each other, mixing the sensor signals, filtering out the pacing signal of each sensor from the mixed sensor signal, Compensating each sensor signal and the filtered stimulation signal, reducing the redundancy of the compensated sensor signals, and providing the output signal.
  • Corresponding methods can be specified for the other two embodiments for the processing device.
  • a computer program product comprises program code means for performing one of the methods when the computer program product runs on a processing device or is stored on a computer-readable data carrier.
  • FIG. 1 shows a redundant sensor system 100 of N with N ⁇ ⁇ 2, 3, 4, ... ⁇ sensors 105, with the aid of a D-dimensional (with D ⁇ N ), to be detected from the outside acting on the sensor measurement a.
  • the sensor signals are processed by means of a processing device 110 and the value of the measured variable a is reproduced at the output 115 of the sensor system 100 in the form of a measured value â .
  • each sensor is excited with a periodic stimulus signal t i , wherein the stimulus signals t i have mutually orthogonal frequencies, as will be explained in more detail below.
  • Spectrograms sketched at the outputs of the sensors 105 each show a distribution of intensities over the frequencies of the sensor signal, the stimulus signals t i being highlighted.
  • each sensor 105 has a sufficiently large dynamic range and is approximately linear and time invariant.
  • M the sensor array
  • D 1 of the measured variable M represents a vector.
  • the matrix M describes with which factors the components of the measurand a affect the individual sensors.
  • M + M T M - 1 M T
  • FIG. 3 shows a signal flow in the sensor system 100 FIG. 1 .
  • An external signal source 305 provides the measurand a and stimulus sources 310 stimulus signals t i .
  • the measurand a and one of the stimulus signals t acts.
  • the sensor signals s i are combined by means of a mixer 315 in accordance with equation (4) to form a signal u (n) :
  • this combination signal u (n) contains exclusively the k i weighted stimulus signals t i : u n
  • ⁇ i 1 .
  • the combination signal u ( n ) is passed to a series of N stimulus filters 320 which are pass filters for the respective matching stimulus frequencies of a channel, preferably the filter length being chosen to correspond to the common period length of the stimulus sequences.
  • the stimulus filters 320 are preferably realized as a digital filter bank with FIR filters (Finite Impulse Response, FIR filters).
  • the gain of a stimulus filter 320 is denoted by l i .
  • each stimulus filter 320 and an output of the corresponding sensor 105 are fed to a compensator 325, which by adding the respective sensor signal s i ( n ) and with - 1 k i ⁇ l i weighted, matching filter output signal w i (n) in each channel the stimulus portion t i (n) is fully compensated since w i (n) represents a delayed, possibly averaged over several periods stimulus variant of k i t i (n).
  • the measured value â in accordance with equation (2) is estimated in a redundancy reducer 330 and output at the output 335.
  • FIGS. 4 and 5 show, by way of example, equivalent structures that do not form part of the invention, by interchanging the order of linear operations from the structure in FIG. 3 emerge.
  • FIG. 4 shows an alternative signal flow in the sensor system 100 of FIG. 1 , Unlike the in FIG. 3
  • the outputs of the stimulus filters 320 are not routed to compensators 325 but to the redundancy reducer 330.
  • the output signals of the sensors 105 are provided to a further redundancy reducer 330.
  • the output signals of the two redundancy reducers 330 are fed to a compensator 325, which provides the output signal.
  • FIG. 4 shows an alternative signal flow in the sensor system 100 of FIG. 1 , This example is different from the one in FIG. 3 Shown by the sensor signals of all sensors 105 are passed to a redundancy reducer 330 whose output is connected to a stimulus cut filter 505. Further, a partial combiner 510 is provided for each of the sensors 105. Each partial combiner 510 is connected to the sensor signals of two sensors 105, each combiner evaluating a different combination of sensor signals. The output of each combiner 510 is connected to a dedicated stimulus filter 320 and the outputs of the stimulus filters 320 and the output of the stimulus cut-off filter 505 are fed to a signal reconstructor 515 which provides the signal at the output 335.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
EP13776811.5A 2012-12-11 2013-10-15 Redundante signalerfassung Active EP2932198B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012222724.5A DE102012222724A1 (de) 2012-12-11 2012-12-11 Redundante Signalerfassung
PCT/EP2013/071494 WO2014090445A1 (de) 2012-12-11 2013-10-15 Redundante signalerfassung

Publications (2)

Publication Number Publication Date
EP2932198A1 EP2932198A1 (de) 2015-10-21
EP2932198B1 true EP2932198B1 (de) 2017-06-21

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EP13776811.5A Active EP2932198B1 (de) 2012-12-11 2013-10-15 Redundante signalerfassung

Country Status (5)

Country Link
US (1) US10001390B2 (zh)
EP (1) EP2932198B1 (zh)
CN (1) CN104870943B (zh)
DE (1) DE102012222724A1 (zh)
WO (1) WO2014090445A1 (zh)

Families Citing this family (4)

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Publication number Priority date Publication date Assignee Title
US10572088B2 (en) * 2016-08-30 2020-02-25 Tactual Labs Co. Vehicular components comprising sensors
DE102018209387A1 (de) 2018-06-13 2019-12-19 Robert Bosch Gmbh Gruppiervorrichtung und Verfahren zum Gruppieren zumindest der Empfangssignale von mindestens vier auf einem Gesamtgebiet verteilten Sendern
EP3667332A1 (en) * 2018-12-11 2020-06-17 NXP USA, Inc. Redundant sensor system with self-test of electromechanical structures
JP7375522B2 (ja) * 2019-12-20 2023-11-08 セイコーエプソン株式会社 センサーユニット、電子機器および移動体

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Publication number Priority date Publication date Assignee Title
JPH05238348A (ja) * 1991-03-13 1993-09-17 Zexel Corp 車両安全装置の制御システム
JPH0526890A (ja) 1991-07-19 1993-02-02 Mitsubishi Petrochem Co Ltd 自己診断回路付き加速度センサ
US6023664A (en) * 1996-10-16 2000-02-08 Automotive Systems Laboratory, Inc. Vehicle crash sensing system
DE19739903A1 (de) * 1997-09-11 1999-04-01 Bosch Gmbh Robert Sensorvorrichtung
US6462530B1 (en) * 2001-01-25 2002-10-08 Bei Technologies, Inc. Redundant rate sensor and method
US7086270B2 (en) * 2004-02-24 2006-08-08 Analog Devices, Inc. Method for continuous sensor self-test
FI118930B (fi) 2005-09-16 2008-05-15 Vti Technologies Oy Menetelmä kiihtyvyyden mikromekaaniseen mittaamiseen ja mikromekaaninen kiihtyvyysanturi
WO2008042200A2 (en) 2006-10-02 2008-04-10 Cyberoptics Semiconductor, Inc. Acceleration sensor with redundant accelerometers
DE102010029903A1 (de) 2010-06-10 2011-12-15 Robert Bosch Gmbh Sensoranordnung und Verfahren zur Online-Überwachung einer Sensoranordnung
JP6044101B2 (ja) * 2012-04-10 2016-12-14 セイコーエプソン株式会社 センサーデバイス、センサーデバイスの製造方法および電子機器
CN102706505A (zh) * 2012-05-31 2012-10-03 西北工业大学 一种飞机电刹车压力传感器冗余装置和控制方法

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Also Published As

Publication number Publication date
US10001390B2 (en) 2018-06-19
DE102012222724A1 (de) 2014-06-12
CN104870943A (zh) 2015-08-26
CN104870943B (zh) 2017-09-15
US20160069714A1 (en) 2016-03-10
EP2932198A1 (de) 2015-10-21
WO2014090445A1 (de) 2014-06-19

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